Fix github workflow warnings

**Is your feature request related to a problem? Please describe.**

See warnings here https://github.com/ChainSafe/lodestar/actions/runs/4786942358

> Node.js 12 actions are deprecated. Please update the following actions to use Node.js 16: actions/setup-node@v2, actions/create-release@v1. For more information see: https://github.blog/changelog/2022-09-22-github-actions-all-actions-will-begin-running-on-node16-instead-of-node12/.

> The `set-output` command is deprecated and will be disabled soon. Please upgrade to using Environment Files. For more information see: https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/

Start with the linked GitHub Actions run and inspect the workflow steps using actions/setup-node@v2 and actions/create-release@v1, along with any step producing the deprecated set-output warning. Confirm the updated workflows run successfully and that the reported Node.js and set-output warnings no longer appear.

Written by the indexing model from the issue text.